CN110045751A - There is cable underwater robot seabed accuracy motion control method based on SI control - Google Patents
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Abstract
There is cable underwater robot seabed accuracy motion control method based on SI control, the present invention relates to underwater robot seabed accuracy motion control methods.The problem of the purpose of the present invention is to solve mostly using manual hand manipulation to land greatly when existing ROV carries out seabed landing, time-consuming and laborious, accuracy precision is poor, is easy the even accident that collides with submerged structure, causes serious economic loss.Detailed process are as follows: Step 1: establishing the control of the face s；Step 2: establishing PID control based on the face the s control that step 1 is established；Step 3: controlling based on the face s that step 1 is established, the PID control that step 2 is established, SI control is established.The present invention is used for underwater robot seabed accuracy motion control field.
Description
Technical field
The present invention relates to underwater robot seabed accuracy motion control methods.
Background technique
Having cable underwater robot (Remote Operated Vehicle, abbreviation ROV) is a national marine equipment technology
Horizontal one of the important signs that.The relevant technologies for studying ROV salvage national economy, seabed space utilization, deep-sea tourism, deep-sea
Immeasurable strategic importance is suffered from lifesaving etc..
The hot spot for complying with ROV research, has studied the method in relation to the seabed ROV accuracy motor control problems.For
The coordinate of known landing point and ideal head are automatically moved to the control of landing point to the ROV near landing point in the case where
Problem is studied.
(1) currently, ROV carries out the mode for mostly using manual hand manipulation to land greatly when the landing of seabed, this mode
Veteran operator's reciprocating operation is generally required repeatedly and can just make ROV to land a relatively satisfied position, it is time-consuming to take
Power.
(2) currently, ROV carries out the mode for mostly using manual hand manipulation to land greatly when the landing of seabed, this mode
Accuracy precision it is poor, especially in more severe underwater environment.
(3) currently, due to ROV underwater operation complication, operator generally requires very stringent Professional Certification.
(4) since the ken of underwater ROV is limited and image transmitting has delay and artificial operation error, this is just led
The landing of the cause seabed manual operation ROV is easy to collide with submerged structure or even accident, causes serious economic loss.
Summary of the invention
The purpose of the present invention is to solve mostly use manual hand manipulation to carry out greatly when existing ROV carries out seabed landing
Land, time-consuming and laborious, accuracy precision is poor, is easy the even accident that collides with submerged structure, causes serious economic damage
The problem of mistake, and propose there is cable underwater robot seabed accuracy motion control method based on what SI was controlled.
There is cable underwater robot seabed accuracy motion control method detailed process based on SI control are as follows:
Step 1: establishing the control of the face s；Detailed process are as follows:
The control law of the face s control method are as follows:
Wherein, τ is the control force and torque that control system generates；S is s surface function,k1、k2For the face s
Control parameter, e ' are position tracking error；For the derivative of position tracking error；esFor the e index of s；
Step 2: establishing PID control based on the face the s control that step 1 is established；
Step 3: controlling based on the face s that step 1 is established, the PID control that step 2 is established, SI control is established.
The invention has the benefit that
Present invention research ROV accuracy motion control is adjusted through row using the method for control, ROV is made to land faster
To the predetermined area, improve working efficiency (faster), it is time saving and energy saving.
Present invention research ROV accuracy motion control can be very good the precision for improving the accuracy of the seabed ROV, more
The homework precision of good guarantee ROV and the fine observation of satisfaction require, and improve accuracy precision (more quasi-).
The seabed fixed-point motion of present invention research ROV controls, and makes ROV more intelligent, allows everyone, can be easily
ROV is operated, his purpose (such as fisherman fishes out sea cucumber with ROV) is realized, reduces the use difficulty (more intelligent) of ROV.This is for ROV
Popularization and use it is significant.
Present invention research ROV accuracy motion control, makes ROV accuracy more safe and reliable, reduces the underwater thing of ROV
Therefore (safer), it is not easy to collide with submerged structure, reduces economic loss.
The present invention conducts a research for the accuracy motion control of the seabed ROV, based on the control of the classical face s, in conjunction with PID
Integral term I in control, proposes SI control method, make ROV faster, it is more quasi-, more intelligent, more safely reach operation or sight
Geodetic point.
It can be seen that from the simulation result of Fig. 2,3,4,5 in different ocean currents, SI control is in control steady-state error
The ability of aspect is better than the traditional face s control, is significantly improved in the control precision of ROV accuracy motion control.
And it is found in emulation experiment, t0Take that will to generate effect in preceding 2-3 seconds of steady-state error in system preferable.Simulation example is tested
The validity of inventive algorithm is demonstrate,proved.
Detailed description of the invention
Fig. 1 is SI control algolithm structure chart；
Fig. 2 is 2 constant section transverse direction ocean current (t0=8s) swaying tracking error ey figure, t0For the introducing for integral term in PID
Time delay；T is time variable, and ey is the ROV position tracking error in y-axis direction；
1 Fig. 3 constant section transverse direction ocean current (t0=15s) swaying tracking error ey figure；
Fig. 4 meets with the 2 section transverse direction ocean current (t of (t=8s) suddenly0=8s) swaying tracking error ey figure, t is time variable；
Fig. 5 is the 1 section transverse direction ocean current (t for meeting with (t=8s) suddenly0=15s) swaying tracking error ey figure.
Specific embodiment
Specific embodiment 1: present embodiment has cable underwater robot seabed accuracy campaign control based on what SI was controlled
Method detailed process processed are as follows:
(1) ROV studies the definition of relative coordinate system: inertial coodinate system (E- ξ η ζ): origin E can be selected in the certain point on sea,
E ξ axis and E η axis are placed in horizontal plane and orthogonal, E ξ axis forward direction direction direct north.E ζ refers to perpendicular to E ξ η plane, forward direction
To the earth's core；
Kinetic coordinate system G-xyz: origin G takes in the center of gravity of ROV, and x-axis, y-axis and z-axis are respectively to pass through the waterline of origin
The intersection in face, cross section and central fore-and-aft vertical plane；
(2) modeling technique of ROV: six degree of freedom linear R OV model [1] ([1] Fossen T I. based on Fossen
Handbook of Marine Craft Hydrodynamics and Motion Control[M].2011.).The model with
Based on dynamics of rigid bodies, rigid body kinematics, hydrodynamics etc., complicated derivation is carried out, and carried out relatively reasonable letter
Change.The blueness of numerous scientists is received in the emulation of control field currently based on Fossen six degree of freedom linear R OV model
It looks at.The present invention is based on the six degree of freedom linear R OV models of Fossen to have carried out in detail to ROV accuracy motion control method
Research.
The kinetics equation of ROV: it is indicated using the six degree of freedom nonlinear model based on Fossen are as follows:
In formula: η is six-degree of freedom position and attitude value of the ROV under fixed coordinate system, η=[x, y, z, φ, θ, ψ]T；x
It is ROV in the displacement of x-axis direction, y is displacement of the ROV in y-axis direction, and z is displacement of the ROV in z-axis direction, and φ is the cross of ROV
Inclination angle, θ are the Angle of Trim of ROV, and ψ is to shake first angle；For six-degree of freedom position of the ROV under fixed coordinate system and attitude value clock synchronization
Between first derivative；The second dervative of the six-degree of freedom position for being ROV under fixed coordinate system and attitude value to the time；T is
Transposition；
M is mass inertia matrix；M*Mass inertia matrix after being transformed into kinetic coordinate system for property coordinate system, M*=J- TMJ-1, J is the transition matrix that inertial coodinate system is transformed into kinetic coordinate system；
CRBFor the coriolis force and centripetal force matrix of rigid body；Rigid body after kinetic coordinate system is transformed into for inertial coodinate system
Coriolis force and centripetal force matrix；
CAFor the coriolis force and centripetal force matrix of additional mass；It is added after being transformed into kinetic coordinate system for inertial coodinate system
The coriolis force and centripetal force matrix of quality；
D is hydrodynamic damping matrix；D*Hydrodynamic damping matrix after being transformed into kinetic coordinate system for inertial coodinate system, D*
=J-TDJ-1；
G is the power and torque vector that gravity and buoyancy generate；g*Gravity after kinetic coordinate system is transformed into for inertial coodinate system
The power and torque vector generated with buoyancy, g*=J-Tg；
τ is the control force and torque that control system generates；τ*System is controlled after being transformed into kinetic coordinate system for inertial coodinate system
The control force and torque that system generates, τ*=J-Tτ；
(3) face s control method: the control of the face s and is carried out fuzzy control rule table non-from fuzzy control
Linear fit replaces fuzzy rule base with Sigmoid curved surface, and then obtains the face s controller [2] ([2] Liu Xuemin, Xu Yuru
The face s control method [J] ocean engineering of underwater robot movement, 2001,19 (3): 81-84).The face s is controlled in 2001 and is mentioned
After out, it have passed through multi-party improvement, make some progress, but few experts and scholars provide in the improved face s controls
Stringent theoretical convergence proves.
The control of the face s is substantially to carry out nonlinear fitting from fuzzy control, and by fuzzy control rule table, is used
Sigmoid curved surface replaces fuzzy rule base, and then obtains the face s controller
The control law of the face s control method are as follows:
Wherein, τ is the control force and torque that control system generates；S is s surface function,k1、k2For the face s
Control parameter, e ' are position tracking error；For the derivative of position tracking error；esFor the e index of s；
The face s control methods are fitted the control object with strong nonlinearity characteristic using nonlinear function, and control effect is better than
PID control can effectively improve robot in the control precision of anchor point operation, so the present invention considers kind of a method and exists
The control of the face s is improved, has obtained good effect by the application in the seabed ROV accuracy motion control method.
(4) Lyapunov Theory of Stability: it can be used to describe the stability of a dynamical system.If this dynamical system is appointed
What track of the primary condition near equilibrium state can maintain near equilibrium state, and such case is known as Lyapunov and stablizes.
Lyapunov Theory of Stability is that the hot topic of current control field is theoretical, and the present invention ingeniously borrows Lyapunov stability
Reason, it was demonstrated that the stability of SI control algolithm realizes certain theoretical breakthrough.
If it is the continuous function in the decimal greater than zero that function V (x), which is in Phase Coordinates original neighborhood of a point P, P < H, H,
V (x) continuously differentiable in Phase Coordinates original neighborhood of a point P, and V (x) and be positive definite, i.e., other than V (0)=0, for P
In all other equal V (x) > 0 of point, such function is known as Lyapunov function.
If theorem 1 is for kinetics equation, there are a Lyapunov function V (x), total derivativesIt is negative half
It is fixed (i.e. for all the points in P), then the equation is stable.
If theorem 2 is for equation, there are a Lyapunov function V (x), total derivativesBe negative definite (i.e.
It removesOutside, have for point every other in P), then the fixed point of equation is asymptotically stable.
(5) PID control method: PID control is exactly the error according to system, and proportion of utilization, integral, difference gauge calculate control
What amount was controlled.The basis of PID control is ratio control；Integration control can eliminate steady-state error, but can increase overshoot；It is micro-
Sub-control system can accelerate Great inertia system response speed and weaken overshoot trend.PID control has been studied relatively saturating at present
It is thorough and relatively broad in practical applications.
Step 1: establishing the control of the face s；Detailed process are as follows:
The control of the face s is substantially to carry out nonlinear fitting from fuzzy control, and by fuzzy control rule table, is used
Sigmoid curved surface replaces fuzzy rule base, and then obtains the face s controller；
The control law of the face s control method are as follows:
Wherein, τ is the control force and torque that control system generates；S is s surface function,k1、k2For the face s
Control parameter, e ' are position tracking error；For the derivative of position tracking error；esFor the e index of s；
The face s control methods are fitted the control object with strong nonlinearity characteristic using nonlinear function, and control effect is better than
PID control, can effectively improve robot in the control precision of anchor point operation, so the present invention considers kind of a method and exists
The control of the face s is improved, has obtained good effect by the application in the seabed ROV accuracy motion control method.
Step 2: establishing PID control based on the face the s control that step 1 is established；
Step 3: controlling based on the face s that step 1 is established, the PID control that step 2 is established, SI control is established.
Specific embodiment 2: the present embodiment is different from the first embodiment in that: based on step in the step 2
Rapid one face the s control established, establishes PID control；Detailed process are as follows:
Pid control algorithm calculates corresponding thrust according to the deviation of amount each in motion process, right for position control
The basic demand of controller is to can control latent device to make various movements, such as avoidance, positioning.For motion state, to controller
It is required that be can guarantee latent device it is anticipated that speed or acceleration movement.Such as remote-controlled vehicle needs two kinds of control modes,
When far from target point, it is desirable that submersible is moved with fixed speed to target point, i.e., does PID control by velocity deviation；When with
When the distance of target point is less than certain value, opsition dependent deviation does PID control.The present invention is to the coordinate and ideal in known landing point
Head studies the control problem for being automatically moved to landing point of the ROV near landing point in the case where, and selection is position
Set deviation PID control.
PID control control rate is as follows:
Wherein, kp、ki、kdFor pid control parameter；T is time variable.
Other steps and parameter are same as the specific embodiment one.
Specific embodiment 3: the present embodiment is different from the first and the second embodiment in that: base in the step 3
In the PID control that the face s that step 1 is established control, step 2 are established, SI control is established；Detailed process are as follows:
The control of the face s can easily be accommodated since parameter is less receives the favor of numerous researchers.With going deep into for research,
The shortcomings that face s controls also embodies, when the complicated marine environment of the face s control reply ocean current etc., it may appear that the phenomenon that steady-state error.
The improvement of a variety of methods has been attempted to solve this problem.Wherein missed in the method for the face ART network s parameter to eliminate stable state
The correlative study of difference is the most mature.But this change is increased than complex based on the face the s control method of ART network parameter
Into the practical application difficulty of the face s control method.The present invention blends the integral term I of the face s control method and PID control method,
A kind of novel face s control method is proposed, and is named as SI control.Also, the present invention is based on Lyapunov Theory of Stability
Stringent proof is carried out to the convergence of SI method, the preciseness for the theory of algorithm for controlling SI, integrality are calculated higher than the original face s
Method.This is also a big innovative point of the invention.
The control law of SI method is as follows
Wherein, t0For the introducing time delay of integral term in PID；T is time variable；k3For SI control parameter.
Only k in entire control law1、k2、k3Three simulation parameters ensure that practicability and easy modulability that SI is controlled.And
And SI control is controlled compared to traditional face s, the marine environment severe to ocean current has fine anti-interference ability.
Other steps and parameter are the same as one or two specific embodiments.
It is as follows based on proof procedure of the Lyapunov Theory of Stability to SI control algolithm:
It enables
It enables
Work as τ > τ0When, s > 0
E=x-xd
Because of s > 0 and x=xdWhen
So
I.e.
As τ < τ0When, s < 0
Because of s < 0 and x=xdWhen
So
I.e.
To sum up it can be concluded thatSgn is sign function.
Enable intermediate variable
From derivation above
Then
Due to will not influence the positive and negative of function divided by a positive number t, so to h- τ0Do Local treatment.And because
So
According to Lyapunov Theory of Stability, SI control algolithm is stable.
Embodiment:
The face s control method:
The face s control algolithm is applied in ROV, when encountering the influence of ocean current, can generate steady-state error.It is controlled when adjusting the face s
When two parameters of system, discovery steady-state error is difficult to eliminate, or has paid the very big cost of overshoot to eliminate steady-state error,
Cause control effect undesirable, especially (Z-direction is impermissible for occurring in practical applications in the seabed ROV accuracy control
Overshoot, otherwise ROV can hit seabed).And SI algorithm dexterously passes through the introducing of time delay integration item, solves ROV and encounters sea
Control leads to the problem of steady-state error after stream, and the introducing of integral term not will lead to over control in the PID of delay process
Generation.
The adaptive face s control method:
The adaptive face s control method also can be well solved control after ROV encounters ocean current and lead to the problem of steady-state error, but
It is that the adaptive face s control method is increasingly complex compared to the SI control algolithm in the present invention, practical application difficulty is higher.It solves identical
The problem of in the case of, the control of the easy modulability of SI control algolithm, the practicability more adaptive face s is stronger.This is also the face s control from now on
The practical application of system and improvement open new road.
Neural network control method:
The stability of SI control algolithm is significantly better than neural network.Although the study of neural network be it is comprehensive, just
Because its study mechanism be it is comprehensive, the amplitudes such as the acoustic jamming of signal and approximation or the interference in periods is waited all very likely to make
It is even dissipated at the oscillation of study, therefore the control effect of neural network is undesirable under relatively harsh conditions.
Simulation example
Emulation prepares:
Based on document [3] (the open-shelf observation type ROV spot hover control method of [3] Gao Sheng, Chen Kun, Zhang Liwei, et al.
Study [J] petroleum machinery, 2019 (2): 55-64.) in ROV model to it is proposed by the present invention based on SI control the seabed ROV
Accuracy motion control method has carried out simulating, verifying.
1 ROV hydrodynamic force coefficient of table
2 ROV inertia coeffeicent of table
3 ROV initial position of table and posture table
4 ROV accuracy position of table and posture table
Simulation analysis:
It is primarily based on Simulink, has built SI control algolithm structure chart such as Fig. 1.
Introducing for integral term in different ocean current situations and different PID postpones t0, the present invention to SI control and
The traditional face s control has carried out contrast simulation research.Such as Fig. 2,3,4,5；
It can be seen that from the simulation result of Fig. 2,3,4,5 in different ocean currents, SI control is in control steady-state error
The ability of aspect is better than the traditional face s control, is significantly improved in the control precision of ROV accuracy motion control.
And it is found in emulation experiment, t0Take that will to generate effect in preceding 2-3 seconds of steady-state error in system preferable.Simulation example is tested
The validity of inventive algorithm is demonstrate,proved.
The present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, this field
Technical staff makes various corresponding changes and modifications in accordance with the present invention, but these corresponding changes and modifications all should belong to
The protection scope of the appended claims of the present invention.
Claims (3)
1. having cable underwater robot seabed accuracy motion control method based on SI control, it is characterised in that: the method
Detailed process are as follows:
Step 1: establishing the control of the face s；Detailed process are as follows:
The control law of the face s control method are as follows:
Wherein, τ is the control force and torque that control system generates；S is s surface function,k1、k2For the control of the face s
Parameter, e ' are position tracking error；For the derivative of position tracking error；esFor the e index of s；
Step 2: establishing PID control based on the face the s control that step 1 is established；
Step 3: controlling based on the face s that step 1 is established, the PID control that step 2 is established, SI control is established.
2. accuracy motion control method in cable underwater robot seabed is had based on SI control according to claim 1,
Be characterized in that: PID control is established in the face the s control established in the step 2 based on step 1；Detailed process are as follows:
PID control control rate is as follows:
Wherein, kp、ki、kdFor pid control parameter；T is time variable.
3. according to claim 1 or claim 2 have cable underwater robot seabed accuracy motion control method based on SI control,
It is characterized by: controlling in the step 3 based on the face s that step 1 is established, the PID control that step 2 is established, SI control is established
System；Detailed process are as follows:
The control law of SI method is as follows
Wherein, t0For the introducing time delay of integral term in PID；k3For SI control parameter.
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